ROS2 Package for Traffic Light Recognition

This is a ROS2 package that includes HLS-based traffic light recognition circuit. See MEVIUS-FPT/hls_traffic_light_recognition for details on the traffic light recognition circuit.

Supported Environment

• Kria KV260 Vision AI Starter Kit

  • 2022.1 Boot FW Update
  • Ubuntu 22.04
  • Kria-PYNQ v3.0
  • ROS2 Humble Hawksbill

  The Bitstream included in this repository is a file generated for K26. Please see MEVIUS-FPT/hls_traffic_light_recognition for more information. If you want to run another target as a ROS2 node, please regenerate the Bitstream and replace the .bit and .hwh files.

Build Workspace

• Custom Message Package

  colcon build --packages-select traffic_light_recognition_interface
  

• ROS2 Node Package

  colcon build --packages-select traffic_light_recognition_fpga_node
  

Run

Setup

. install/setup.bash

ROS2-FPGA Node (Processing Traffic Light Recognition)

ros2 run traffic_light_recognition_fpga_node fpga_node

Talker (Publishing Camera Captured Image)

ros2 run traffic_light_recognition_fpga_node talker --ros-args --params-file traffic_light_recognition_param.yaml

Listener (For Debugging)

ros2 run traffic_light_recognition_fpga_node draw_circle